Romansy 13 pp 295-306 | Cite as

Emotion-based Walking of a Biped Humanoid Robot

  • Hun-ok Lim
  • Akinori Ishii
  • Atsuo Takanishi
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


This paper describes the emotional walking of a biped humanoid robot based on its body motion. We consider three emotions such as happiness, sadness and anger. These emotions are defined by motion parameters of the biped robot. To express the emotions as walking motions, the patterns of the low-limbs, upper-limbs and head are preset using a polynomial. While the biped robot is emotionally walking according to the patterns, its stability is maintained by using the combined motion of the trunk and waist that is calculated by a body motion control method. To confirm the emotion expression, we have constructed a human-like robot WABIAB-RII (WAseda BIpedal humANoid robot-Revised II) which has forty-three mechanical degrees of freedom.


Motion Parameter Humanoid Robot Biped Robot Biped Walking Mechanical Degree 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Hun-ok Lim
    • 1
    • 3
  • Akinori Ishii
    • 2
  • Atsuo Takanishi
    • 2
    • 3
  1. 1.Department of System Design EngineeringKanagawa Institute of TechnologyKanagawaJapan
  2. 2.Department of Mechanical EngineeringWaseda UniversityTokyoJapan
  3. 3.Humanoid Research InstituteWaseda UniversityJapan

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